Unitree Dex5-1

5-finger adaptive robotic hand for Unitree platforms (H1, Z1 arm mount compatible)
Quick-swap wrist adapter with standard bolt pattern for fast deployment
Multi-contact tactile fingertips for stable grasping of varied objects
On-board controller with low-latency EtherCAT/TTL options
Pre-built motion primitives: pinch, power grasp, tripod, lateral, spherical
Lightweight magnesium-alloy chassis; serviceable modular digits
Built-in over-current and jam protection; auto-home & calibration routine

Trusted dealerDirect manufacturer partnership
Pan-India deliveryInsured shipping, all states
Post-sale supportTraining + service included

Overview

What makes it work

Product specifications

Section	Parameter	Value
Mechanical	Fingers	5 (modular, 3 active joints per finger)
	Degrees of Freedom (hand)	15 DoF (actuated), 1 palm spread (coupled)
	Grasp Types	Power, Pinch, Tripod, Lateral, Spherical (pre-sets)
	Payload (centered)	up to 2.0 kg (typical), 3.0 kg moment-limited
	Max Fingertip Force	up to 20–30 N per finger (mode-dependent)
	Repeatability (closure)	±0.2 mm finger tip position (typ.)
	Materials	Mg-alloy frame, polymer links, silicone tactile pads
	Ingress Protection	IP40 (lab/indoor; upgrade kits available)
	Tooling Interface	Quick-swap wrist plate; 4× M4 on 31–34 mm PCD
	Dimensions (Hand)	≈ 185 × 120 × 65 mm (H×W×D)
	Mass (Hand only)	≈ 0.9–1.1 kg
Electrical	Input Voltage	24 V DC (18–28 V acceptable)
	Peak / Avg Power	120 W peak / 25–40 W typical
	Connectors	Power: 2-pin; Data: RJ45 (EtherCAT) / JST (TTL)
	Safety	Over-current, stall/jam detect, thermal derate
Control	Control Modes	Position, velocity, grip-force, impedance
	Communication	EtherCAT (CoE), UART/TTL (115.2–1 Mbps)
	Latency (cmd→motion)	≤ 5–10 ms on EtherCAT
	API/SDK	C++/Python SDK, ROS/ROS2 drivers (URDF meshes)
	Motion Primitives	Close/Open, Pinch/Tripod/Power, Teach & Replay
Sensing	Encoders	High-res magnetic encoders per joint
	Tactile	Capacitive/pressure fingertip arrays (multi-zone)
	Diagnostics	Voltage, current, temp, fault codes
Integration	Unitree Compatibility	H1 (humanoid hands), Z1 arm via adapter plate
	Mounting Time	< 5 minutes with pre-wired harness
	Cable Length	1.5 m harness (custom lengths available)
Environment	Operating Temp	0–45 °C (non-condensing)
	Storage Temp	−10–60 °C
Package	In the Box	Dex5-1 hand, Unitree wrist adapter, cable set, pads kit, quick start